//------------------------------------------------------------------------------
//  <copyright file="ControllerThreadParameters.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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//------------------------------------------------------------------------------

#pragma once 

#include "IFRIConnection.h"
#include "KukaLBR4PlusControllerExports.h"
#include "SharedBufferParameters.h"

/// <summary> Parameters for the thread that runs the controller loop around the controller state machine </summary>
struct KUKALBR4PLUSCONTROLLER_DLLEXPORTIMPORT ControllerThreadParameters
{
	/// <summary> 
	/// Poitners to objects used to synchornize data transfer with upstream client via
	/// <c>ControllerClientMessageHandler</c>
	/// </summary>
	SharedBufferParameters *pSbParams;

	/// <summary> 
	/// Object for sending commands and receiving data from the Fast Research Interface
	/// to the Kuka LBR.
	/// </summary>
	IFRIConnection *pFriConnection;

	/// <summary> Initializes a new instance of the <c>ControllerThreadParameters</c> class. </summary>
	/// <param name="pSbParams"> <c>SharedBufferParameters</c> object to store in struct. </param>
	/// <param name="pFriConnection"> <c>IFRIConnection</c> object to store in struct. </param>
	ControllerThreadParameters(SharedBufferParameters *pSbParams, IFRIConnection *pFriConnection);
};
